Helical Interpolation with FlexMotion

1. Description

The Load Helical Arc function available in FlexMotion defines an arc in 3D vector space that consist of a circle in the XY plane and synchronized linear travel in the Z axis. The arc is specified by a radius, starting angle, travel angle, and Z axis linear travel, and like all vector space moves, uses the loaded value of vector acceleration and vector velocity to define the motion along the helical path of the arc. The following figure defines a helical arc:

1. Helical Arc

5. Radius

2. Travel Angle

6. Linear Travel

3. Start Angle

7. Ending Position

4. Starting Position

Like circular arcs, helical arcs are not limited to ±360°. Moves of up to 4,096 helical twists in either direction can be started with one call to this function. Since each of the three axes specified in the vector space needs to work in syncronization to create a helix, the trajectory is generated on the board and is calculated on the fly.